When using a boat it will just move forward, the boat will glide, and then it will try to find the best route again and this continues until baritone is stopped. I have tried this on survival world with just baritone mod and it still has the issue. This issue occurs on the latest version of baritone.

yep. baritone doesn't support boats. or riding any mobs for that matter

There's some code for pigs though (I'm not saying it works, just that it exists).